DocumentCode
1084003
Title
Gyrobot: Control of Multiple Degree of Freedom Underactuated Mechanisms Using a Gyrating Link and Cyclic Braking
Author
Gilbert, James M.
Author_Institution
Univ. of Hull, Hull
Volume
23
Issue
4
fYear
2007
Firstpage
822
Lastpage
827
Abstract
A novel control strategy is introduced in which a multiple degree of freedom passive joint mechanism is augmented with a single continuously gyrating link. The gyrating link introduces coupling torques to the remaining joints, and the effect of these torques is controlled by cyclically applying holding brakes mounted on the passive joints. This allows position and trajectory control of the mechanism.
Keywords
closed loop systems; feedback; gyroscopes; manipulator kinematics; multivariable control systems; position control; Gyrobot; continuously gyrating link; coupling torque; cyclic braking; holding brakes; passive joint mechanism; position control; trajectory control; underactuated mechanism; Actuators; Costs; End effectors; Linear feedback control systems; Motion control; Orbital robotics; Switching systems; Torque control; Variable structure systems; Wheels; Nonholonomic; space robots; switching systems; underactuated systems; variable structure systems;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2007.900632
Filename
4285847
Link To Document